rflex_commands.h
1 /* Player - One Hell of a Robot Server
2  * Copyright (C) 2000
3  * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
4  *
5  *
6  * This program is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  *
11  * This program is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with this program; if not, write to the Free Software
18  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
19  *
20  */
21 
22 #ifndef RFLEX_COMMANDS_H
23 #define RFLEX_COMMANDS_H
24 
25  int rflex_open_connection(char *dev_name, int *fd);
26  int rflex_close_connection(int *fd);
27 
28  void rflex_sonars_on(int fd);
29  void rflex_sonars_off(int fd);
30 
31  void rflex_ir_on(int fd);
32  void rflex_ir_off(int fd);
33 
34  void rflex_brake_on(int fd);
35  void rflex_brake_off(int fd);
36 
37  void rflex_odometry_off( int fd );
38  void rflex_odometry_on( int fd, long period );
39 
40  void rflex_motion_set_defaults(int fd);
41 
42  void rflex_initialize(int fd, int trans_acceleration,
43  int rot_acceleration,
44  int trans_pos,
45  int rot_pos);
46 
47  void rflex_update_status(int fd, int *distance,
48  int *bearing, int *t_vel,
49  int *r_vel);
50 
51  void rflex_update_system(int fd, int *battery,
52  int *brake);
53 
54  int rflex_update_sonar(int fd, int num_sonars,
55  int *ranges);
56  void rflex_update_bumpers(int fd, int num_bumpers,
57  char *values);
58  void rflex_update_ir(int fd, int num_irs,
59  unsigned char *ranges);
60 
61  void rflex_set_velocity(int fd, long t_vel, long r_vel,
62  long acceleration);
63  void rflex_stop_robot(int fd, int deceleration);
64 
65 //int clear_incoming_data(int fd);
66 
67 #endif
int bumper_style
bumper bit style
Definition: rflex_configs.h:109
Definition: rflex-info.h:112